WO2014086270A1

WO2014086270A1 - System and method for selecting measuring basis correction dynamic state intelligently

Info

Publication number: WO2014086270A1
Application number: PCT/CN2013/088405
Authority: WO
Inventors: 顾红波
Original assignee: Gu Hongbo
Priority date: 2012-12-03
Filing date: 2013-12-03
Publication date: 2014-06-12
Also published as: CN103336725A

Abstract

The present invention is mainly applied to an operating system in a man-machine interactive system, and have a primary function of allowing an operator to be capable of smoothly operating a computer system with a dynamic sensing system in an unstable dynamic environment, and under the condition that the dynamic sensing system is not very precise or stable. The system and the method are applicable to a vehicle-mounted remote controller, and a remote control mouse of a vehicle-mounted computer, and used for operating the computer system with a gesture in a similar unstable environment.

Description

System and method for intelligent selection of measurement reference correction dynamics

Technical field

The invention belongs to a background support system of a human-computer interaction control system based on a dynamic sensing system. With the miniaturization of computer systems and the wide range of applications, computers are being developed from indoors, desktops to portable devices, embedded with cars, etc., but their traditional control system keyboards and mice have not adapted to these wider In view of the need, the present invention provides technical support for an operator to conveniently control a computer in a dynamic environment, and to use a computer to manipulate a robot.

Background technique

Earlier this year, several of the patents I filed proposed systems that use dynamic sensing systems such as gyros in computer equipment to manipulate or assist in the manipulation of computer equipment. For example, turning left and right, or turning the phone up and down to control the left and right movement of the mouse pointer on the screen, or moving up and down; there is also a smart camera system that uses the camera's built-in dynamic sensing system to precisely select the timing of the photo so that The most stable timing is to take pictures, or select the pictures collected at the most stable timing as official photos.

technical problem

The system of the above inventions has some outstanding advantages, but in some cases, there are some drawbacks, for example, when a person is walking while operating the mobile phone, if the above-mentioned mobile phone control system is used, the limbs are shaken and turned when walking. Such actions cause great interference to the manipulation of the mouse pointer, and there is such interference when riding in a car. The present invention is primarily directed to solving these deficiencies, making the systems of the above described inventions a perfect system.

Technical solution

Summary of the invention

The invention is mainly applied to a control system in a human-computer interaction system, and the main function is to enable the controller to utilize the dynamic sensing system in a situation where the dynamic sensing system is not very accurate and stable, and in an unstable dynamic environment. Smoothly control the computer system. It can be applied to the car remote control, the remote mouse of the car computer, and the gesture system to operate the computer system in a similar unstable environment.

具体实现的系统及其实现步骤描述如下 The specific implementation of the system and its implementation steps are described below

A method for intelligently selecting a measurement reference correction dynamic,

First of all, if the dynamic sensing system in the system is a component such as a gyro or a gravity acceleration sensor, the factory error of each dynamic sensing system needs to be corrected first, and then the system needs environmental factors such as temperature. The resulting error is corrected so that it can accurately reflect the dynamics of the environment in which it is located. This requires the system to intelligently determine whether the system is in a stationary state, and use the measured dynamics at this time as a measurement reference, and The dynamic data at this time is used as a correction value to correct the data of the dynamic sensing system;

Finally, the system needs to shield and remove the interference of the environment, etc., which requires at least one dynamic sensing system as the measurement reference, and the dynamic data at this time as the dynamic correction value; in addition, the system uses at least one dynamic transmission. The sensing system monitors the dynamics of the control and corrects its dynamic data with dynamic correction values as actual dynamics.

1. The static judgment module monitors the dynamic data returned by the dynamic sensing system in real time, and intelligently judges whether the system is in a stationary state;

2. When the static judgment module is in a static state, the system detects the dynamic data value of the dynamic sensing system and stores it as a correction value in the storage system;

3. The computer system stores the correction value together with the environment parameter of the environment in which the system is located when the above correction value is generated, and is called when the system encounters a similar environment again in the future;

4. When the dynamic sensing system is in motion and the computer system uses the dynamic sensing system to monitor the system dynamics, the dynamic correction module corrects the dynamic data transmitted by the dynamic sensing system by using the above correction value;

The above steps use the difference between the actual measured dynamic data of the dynamic sensing system and the data actually measured at the time of static as the correction value, and the correction work for each sensing system is completed. The following steps are performed. At least one dynamic sensing system will be used as the measurement reference in the dynamic environment, and then at least one other dynamic sensing system for monitoring the dynamics of the monitoring will be used to monitor the control dynamics and use the former to correct the latter;

5. The dynamic sensing system as a measurement reference monitors its dynamics in real time, and transmits the monitored dynamic data to the dynamic correction module in real time;

6. The dynamic sensing system that monitors the dynamics monitors its dynamics in real time, and sends the monitored dynamic data to the dynamic correction module in real time;

7. The dynamic correction module receives the dynamic data returned by the two, and corrects the dynamic data of the monitoring and control by using the dynamic data of the measurement reference;

8. The computer system takes the modified dynamic control data obtained by the above steps as the actual operation dynamics of the operator, and controls the computer according to the operation;

本发明中有关技术术语的含义及内容进一步解释如下：The meaning and content of the technical terms in the present invention are further explained as follows:

Dynamic sensing system

In the present invention, all sensors capable of inductive devices such as gyro, gravity acceleration sensors, or human body motion states are collectively referred to as "dynamic sensing systems", and it is not excluded that optical and wireless signals can be used to detect operating states in the future. For example, existing systems and principles commonly used in animation production to detect human motion with anti-cursors may also be used to operate computers in the future; gloves with many sensors can also detect motion states; image analysis Detecting the rotation of a general object, body, or even the eye, controlling the movement of the cursor, etc., can be considered as a more complex dynamic sensing system.

2. Measurement basis

In the present invention, the dynamic data monitored by the dynamic sensing system is often the result of a combination of several motions and even the factory error of the sensing system itself. Such data often does not reflect its true situation. Furthermore, the dynamics that the operator needs to express are not reflected, so a measurement reference is required as a reference standard. In the present invention, the measurement reference is divided into the following cases, but is not limited to these methods.

1) A single static measurement reference, as described in Embodiment 1, is mainly used to correct the factory error.

2) A multi-valued static measurement reference, as described in Example 1, is mainly used to correct for different errors caused in different environments.

3) The dynamic measurement reference, as described in Embodiment 2, is mainly used to correct the error caused by the motion superposition effect of the environment when operating in a jittery or swaying environment in real time.

3. Correction value

In the present invention, the correction value refers to a value for correcting the dynamic data monitored by the dynamic sensing system that monitors the dynamics of the operation, using the measurement reference as a static reference. In the first embodiment, the basic calculation method is that when the system confirms that it is static in an intelligent manner, the difference between the dynamic data actually measured by the dynamic system and the dynamic data that should be measured during the static is the error, and As the correction value; in the second embodiment, the calculation method is as the dynamic data monitored by the dynamic sensing system for monitoring the dynamic operation, minus the dynamic data of the dynamic sensing system as the measurement reference, that is, the dynamic data of the measurement reference is taken as The correction value, however, in the present invention, in most cases, the dynamic data is not one-dimensional, so it is not simply a subtraction. In the three-dimensional dynamic correction, the axial difference between the dynamic sensing system as the reference and the dynamic sensing system as the measurement reference is also considered, and the dynamic correction value is converted. The correction value is also divided into a single static correction value, a multi-value correction value, and a dynamic correction value in the same manner as the measurement standard, but is not limited to these cases.

4. Environmental parameters

In the present invention, the environmental parameters mainly refer to the parameters of the environment in which the temperature, the air pressure, the electromagnetic force, the vibration frequency, and the like of the environment in which the dynamic sensing system is located have an influence on the measurement accuracy and error of the dynamic sensing system.

Beneficial effect

The invention can not only effectively eliminate the jitter interference caused by the shaking operation platform of the automobile, but also eliminate the interference caused by the limb vibration derived therefrom, and is a device for simply and accurately controlling the computer type in an unstable environment. Opened up broad prospects. The invention and the patent "a smart camera system and method for obtaining stable imaging" submitted by myself earlier can not only correct the gyro of the camera in time, but also reflect the actual dynamics faithfully, and can also collect the best timing. The picture provides better background support.

DRAWINGS

1 is a block diagram of the module of the first embodiment. Of course, the functions and the division of the modules may be in various styles. The present division is only one of the functions and principles of the present invention.

2 is a block diagram of the module structure of the second embodiment. Of course, the functions and modules may be divided into multiple types. The present division mode is only one of which can directly describe the functions and principles of the present invention, in order to explain the dynamics in more detail. The function of the module is modified, and it is further divided into two sub-modules: a dynamic correction value conversion module and a dynamic correction calculation module. It should be noted that in FIG. 2 and Embodiment 2, the data transmitted by the two sensing systems, which are the dynamic sensing system as the measurement reference and the dynamic sensing system that monitors the dynamic control, are first used in Embodiment 1 And the method described in Figure 1 to correct the error caused by factory error and environment, to ensure that the output data can correctly reflect its true dynamics, and then use the method described in Embodiment 2 to correct the dynamic superposition and interference. The error, that is to say, is a structure similar to nesting recursion at two different levels. If you want to draw a panoramic structure, it is equivalent to at least two Figure 1, plus a Figure 2, can be fully expressed, it is impossible to achieve on A3 paper, so this hierarchical representation is used.

BEST MODE FOR CARRYING OUT THE INVENTION

实施例3 Example 3

With the advancement of technology, glasses virtual screens and gestures will become more and more popular. In a stable environment, the technique of gesture operation is of course a good technology, which can be dynamic once placed in a car or in a construction machine. In the environment, problems arise. It is particularly pointed out that conventional mice and keyboards are not suitable for such an environment, and thus such a technique of the present invention is particularly required.

Based on the techniques and steps described in Example 2, we can assume that such a product carries one or more small finger cots on the index finger of the operation. These finger cots contain a dynamic sensing system and a wireless transmission system and computer. Connected so that the operator can use the glasses-like virtual screen to operate the computer with his fingers, but the system will operate when the operator walks or sits on a rocking platform like a car. It becomes extremely difficult. Therefore, China Telecom used the movie stunts in CCTV's advertisements to operate the virtual screen while walking, but in reality there is no such practical system. In such an application scenario, the use of the present invention can increase the wearing of a watch-like device as a dynamic measurement reference at the position of the operator's wrist or elbow, and of course can also be integrated with the electronic watch, wherein the dynamic transmission The data of the sensing system is in contrast to the data of the dynamic sensing system in the device on the fingertip, and the difference between the dynamic data between the two is used as the data basis for manipulating the computer. This effectively shields the interference caused by the shaking of the body and the car. The basic biological principle is that if a person wants to keep the body on a shaking platform, or just to ensure the stability of the arm, it is very difficult, but if you just want to keep the wrist key, the finger joint movement posture, and the relative angle are not It is very easy to be disturbed. The plurality of dynamic sensing systems in the above manner are for the computer, the universal dynamic sensing system is both an inductive system for sensing the motion of the object and a marker attached to the object for recognizing the motion state of the object, while in other In the application mode, the object as the identifier may be separated from the sensing system, and the marking manner may be various, and may even be a point on the human body or the object itself, a line composed of two identification points, or A plane or surface consisting of 3 or more identification points is used as an identifier. The following examples are given, but the invention is not limited to the following types.

1. Based on the above case, the range of the identifier of the dynamic sensing system can be further expanded. In the real technology, there is a technique of using the anti-cursor to monitor the dynamics of the object, on the human body, animals, or moving objects. Attach one or more anti-cursors, use the camera to monitor the motion state of the anti-cursor, and convert it into data and store it in the computer. Now this technology is mainly used to analyze the athlete's body posture and the field of animation. If such an alternative dynamic sensing system is applied to the present invention, the function of shielding unwanted superimposed motion in an unstable environment can also be achieved. The difference is that the distribution of dynamic sensing systems is different. In the above example, the dynamic sensing system always moves with the moving parts and simultaneously senses its dynamics. In this application, the dynamic sensing system is divided into Two parts, one is a relatively fixed camera, and the other is an anti-cursor that moves with the limb or moving parts. Not only can one camera monitor multiple anti-cursors at the same time, but also monitor several reflections with two or more cameras at the same time. For example, if you only monitor the two-dimensional dynamics of the limb, one camera is fine, but if you want to monitor the three-dimensional dynamics of the limb, you need more than two cameras to monitor several anti-cursors at the same time.

2. As an alternative to the anti-cursor, you can use a color patch, or a specific pattern or QR code that can be recognized by the computer as the logo. For example, when identifying the movement of a robot, drawing a bar code, a two-dimensional code, or other relatively easy-to-recognize patterns on the joints of the robot, the computer can easily recognize and track its motion through the camera.

3. As an alternative to the anti-cursor, you can use the total reflection triangle of reflected electromagnetic waves or ultrasonic waves as the marker. In this case, the device that collects its dynamics is not a general camera, but a radar or an ultrasonic radar.

4. As an alternative to the anti-cursor, LEDs can be used as a sign of monitoring dynamics. Because LEDs can emit light of a single spectrum, they are easier to monitor in environments with poor light or complicated light.

5. Using intelligent image recognition technology, a certain point or block of the object itself with image features is used as the recognition action and dynamic identification. This technology is now mainly used for expression recognition, the earliest expression recognition, which needs to be tested. The face is attached to the anti-cursor, and later developed into a small black dot on the face to recognize the expression. The latest intelligent image recognition technology can not only distinguish the obvious features of the face, such as the corners of the mouth, the corners of the eyes, the nose, and the eyebrows. The markers are used to identify and even identify subtle features such as textures on the skin as markers and track their dynamics. This technique can be fully utilized in the present invention to simplify the system so that the features of the body or object itself can be used as an identification without the need to specifically design a dynamic sensing system. Of course, in the current computer system, the CPU load of the intelligent identification algorithm is still too large, but with the development of technology, it is still very promising in the present invention.

The invention can be applied not only to the operation of the computer interface such as manipulating the mouse pointer, but also to other aspects of the manipulation of the computer, for example, the computer built in the engineering machine can be operated, and the operator has an anti-cursor or a dynamic The glove of the sensing system allows the construction machine to operate in accordance with the movement of the human hand. To imagine a scene, the operator of the excavator no longer moves multiple joysticks to operate the excavator, but operates the excavator by the onboard computer to recognize the action posture of the human hand, the first or two of the operator's index finger. The joint motion is used to control the bucket of the excavator, and the movements of the index finger joint and the wrist joint of the index finger respectively control the two excavating arm joints of the excavator. By using the present invention, it is ensured that the excavating arm operates accurately according to the operator's gesture, and more importantly, in such an application environment, if there is no technical filtering jitter of the present invention as a support, such a situation will occur, the excavator engine The operation produces jitter, which is reflected in the jitter of the human hand, and these jitters are again reflected by the onboard computer in the unrealistic jitter of the excavator's digging arm, which again causes the cockpit to shake. And further increase the operator's arm jitter, once the two couple resonance at a certain frequency, will produce a vicious circle, the machine and the operator's shaking is getting bigger and bigger, eventually, the excavator may madly dig the excavating arm , causing the machine to malfunction or roll over. Therefore, in such an application environment, only the technique of the present invention can be used to cut off such a vicious circle and keep the machine operating smoothly and smoothly.

Further, the intelligent robot used in the present invention can eliminate the jitter caused by the operation and the motion interference of the processed component, but in such an application, the operator is no longer a biological person. It is a robot. The existing robots and robots are driven by precise power such as stepping motors. The advantage is accuracy. The disadvantages are lack of flexibility and rigidity. All the parts to be processed must be placed in strict position if they are processed. If the components are not in the right position or even dynamic, the robot will be difficult to handle. This feature also determines that it cannot completely replace the worker's operation. If a relatively flexible and inaccurate power such as aerodynamics is used to drive the robot's motion, There will be problems with the accuracy of operation, and in the manner of the present invention, the robot and the machined part are monitored in real time by the dynamic sensing system, and then the flexible part is based on the processed part or the mark on the pipeline conveyor. Positioning, and based on the monitoring results, the robot's operation dynamics can be re-adjusted in real time through the computer, which can solve this dilemma well. No matter the precise power or the flexible inexact power, it can achieve good control results. In the flexible power robot system, the motion can be feedback and adjusted in real time to do The advantages of the action are particularly obvious.

具体实现步骤Specific implementation steps

A method for intelligently selecting measurement reference correction dynamics, which is characterized by the following steps:

1) The dynamic sensing system monitors the identification as a measurement reference in real time, and transmits the dynamic data of the monitored reference identification to the computer in real time;

2) The dynamic sensing system monitors the dynamic identification as a dynamic control, and sends the dynamic data of the monitored dynamic identification to the computer in real time;

3) The dynamic correction module receives the dynamic data returned by the above two, and corrects the latter data by using the former data;

4) The computer system takes the modified dynamic data of the monitoring and control obtained by the above steps as the operation dynamics of the operator, and thereby controls the computer;

技术优势Technical advantages

In the present embodiment, the application of the present invention has also been expanded due to the expansion of the range of the dynamic sensing system. Due to the particularity of the dynamic sensing system, a new source of interference, namely the camera or the detecting radar itself, is also brought about. The jitter can also interfere with the dynamic acquisition accuracy, and the interference caused by the camera itself can be eliminated by using the technique of the present invention. The invention may even be used in the post-production of the camera. The computer slightly moves each picture according to the image in the computer, and eliminates the jitter of the picture caused by the slight shake of the camera. Of course, the technology of the present invention is submitted with me. The "a smart camera system and method for obtaining stable imaging" can be combined to achieve perfect results. Once the film and television industry has such post-production technology as its backing, its original harsh shooting conditions and equipment requirements will be greatly liberated.

Embodiments of the invention

实施例1Example 1

There is now a gyro calibration tool software for mobile phones and tablets with built-in dynamic sensing systems for calibrating the system's built-in gyro error. The main purpose is that the existing built-in gyro has a certain offset error when it leaves the factory. That is to say, even if the system is in a completely static state, the detected dynamics are not static, but are rotating, which is called drift in the industry. After the mobile phone system is placed in the state of complete static state such as the desktop and run with the above calibration tool software for a period of time, the value of the factory error in each axial direction can be measured, and the error can be eliminated by adding the software correction value. However, using the above-mentioned tool software and the like can only eliminate the factory error, and does not consider or find that many other factors can cause large errors, and the software can not do anything for the errors caused by other factors. These factors affecting the accuracy of dynamic sensing systems include, but are not limited to, the following points,

1. The temperature of the environment where the system is located, we found that in practice, there is often such a phenomenon. Just after calibrating the mobile phone gyro with the above calibration software, playing the game related to the gyro application, at the beginning, Stable, but after playing for less than 10 minutes, I began to feel the drift. After detailed testing, analysis, and experimentation, we thought that this is because playing games is a CPU-intensive application, and CPU heat will cause the inside of the phone. The temperature rises sharply, and the error of the gyro is related to temperature, and the change in temperature causes drift again.

2. The air pressure at the location of the system, which may be related to the packaging method of the existing components. If the packaging method is improved, it is possible to reduce or eliminate the influence of this factor.

3. The electromagnetic environment in which the system is located, we found that when the individual equipment is next to the building's main power cable, its dynamic sensing system produces significant errors.

4. There are other factors that we can't accurately measure. It can also have an impact. For example, vibrations of a certain frequency generated by the operation of the equipment can also have an impact.

Just as the legal system believes in human nature, in the present invention, the default internal data of the general computer system is not the same. The system default dynamic sensing system is inaccurate and unstable, and needs frequent calibration and correction. Therefore, in order to enable the control system based on the dynamic sensing system to be in a state of precise operation anytime and anywhere, the intelligent selection of the time period of the measurement reference and the frequent update of the correction value are used to eliminate the error. Further, the system can also record the parameters of the environment in which it was used and its corresponding correction value, so that when the system is again in the same or similar environment, it can adjust to an optimal correction value without measuring the reference again. But there is a paradox here, that is, the computer system itself is dynamic through the dynamic sensing system. If the dynamic sensing system itself has errors, even if the system is at rest, the computer system looks at the data obtained. Still in motion, How can a dynamic sensing system correct its own errors if you have errors? ? The static judgment module of the system can judge the static state intelligently, and the principle and method of selecting the time period of the measurement reference can be as follows, but not limited to the following methods.

1. Using the change of the motion state measured by the dynamic sensing system and the magnitude of the fluctuation as a feature to judge whether the system is in a stationary state, instead of the motion state measured by the dynamic sensing system as in the usual way of thinking. The size, or presence or absence, is used as a feature to determine if the system is at rest. The general principle is that when the system is at rest, the dynamic data measured by a universal dynamic sensing system such as a gyro or an acceleration sensor should be static. If there is an error, the measured result should be a relatively uniform rotation with a small rotational speed, a small linear uniform acceleration state, or a regular fluctuation like a sinusoidal curve with a small amplitude, in general, its dynamic change is small; and when the system is in real In the dynamic state, whether it is the rotational speed or the linear motion acceleration has a large amplitude and irregular changes, it is unlikely to be in a state of uniform rotation, uniform acceleration, or regular small fluctuations, of course. It is still possible to deliberately simulate this state in the laboratory, that is, in the state of real motion, the measured dynamic characteristics change greatly. Therefore, at least for dynamic sensors such as gyro and gravity acceleration sensors, it is necessary to judge whether the static data is static or not, and whether the dynamic data changes its magnitude to determine whether it is static or not. More reliable. Therefore, when the system detects that the system is in such a low speed and uniform rotation state, a small linear acceleration state, or a regular small fluctuation state, the system program intelligently assumes that the system is in a stationary state, and takes this time period as The time period of the reference is measured, and the dynamic value measured at this time is used as a correction value to correct the error of the dynamic sensing system such as the gyro and the acceleration sensor.

2. Using a different type of dynamic sensing system different from the general dynamic sensing system as a measurement reference to select the timing to measure the dynamics of the reference of the universal dynamic sensing system, for example, an imaging principle similar to an optical mouse, or The principle of the interference fringe of the laser of the laser mouse is to monitor the objects around the device. When the system itself is relatively stationary with the surrounding objects, the system is considered to be in a stationary state. Otherwise, the device is considered to be in motion; if the system is a mobile phone or a tablet, etc. The camera function device can also be assisted by the camera system. For example, in the patent "A Smart Camera System and Method for Stabilizing Imaging" that I submitted earlier, there is a correspondence between two pictures that are continuously collected. Whether the pixel of the position has changed to determine the dynamic mode of the system.

3. Comprehensively use the above two types of methods to make a composite judgment. If the above second method determines that the system is static, the judgment is not necessarily accurate, but if the judgment system is dynamic, the interpretation is more accurate. . Since the system may be in a closed container, such as a bag, and it moves with the bag, the system may misjudge, that is, it may be a necessary condition for determining that the system is at a standstill rather than a sufficient condition. Therefore, it is appropriate to perform the composite logic judgment together with the first mode in the second mode described above.

4. According to the historical record, combined with the above method, in the present invention, the computer system can record the environmental parameters of the system together with the dynamic correction value, and of course, can record more information, such as GPS, mobile phone The information of the connected wireless base station can confirm the geographical location, and the geographical location is closely related to the dynamics. When the office is in this position, the mobile phone is more likely to be static, and when the location is on the road, the mobile phone is in a static opportunity. Less, and most likely in a confined space in the bag, so that the computer system can comprehensively use GPS positioning information, the above-mentioned judgment methods, and their historical records for more complex and comprehensive judgment.

When the computer system determines that the system is in a stationary state, the system uses this time as a measurement reference, and stores the dynamic data value monitored by the dynamic sensing system as a correction value to the storage system. The system can regularly measure the reference and generate correction values. When the dynamic sensing system needs to be called to monitor the dynamics, the dynamic data transmitted by the correction value dynamic sensing system measured in the recent or near period is called for correction, and The corrected dynamic data is taken as the actual dynamics of the system.

Of course, the computer system can also store the corrected value of each measurement together with the local environmental parameters at that time, because when the computer system is always in a relatively fixed position and environment, the error value of the dynamic sensing system is relative. Fixed, the work of confirming the measurement reference and generating the correction value may be repeated without or as little as possible. When the position and environmental parameters of the computer system change, the system needs to select a system in a static state by the above method. The time period is used to confirm the measurement reference, generate the correction value, or query in the previously stored data, whether there has been a work that has generated the correction value in the approximate environment, and the correction value measured, and according to This adjustment correction value, of course, the latter way is more convenient. The environmental parameters recorded by the system may include the following, but are not limited to the following types.

1. System temperature, the prior art has matured the measurement system temperature, for example, there are temperature measuring devices in the CPU of the desktop computer and the fan. The existing mobile devices such as mobile phones and tablet computers are not similar now. Equipment, but adding these features is not a problem.

2. Ambient air pressure, there are basically no sensitive devices for measuring air pressure in existing computer equipment, but such devices are inexpensive and small in size, and it is not difficult to add such devices to the device as long as there is a demand, so the computer It is entirely possible for the system to collect and record the air pressure parameters from its own equipment.

3. The location of the system, the location of the system is often related to the electromagnetic environment, and even the temperature, pressure and other environments, so the location of the system can also be used as an indirect environmental parameter. The built-in GPS in today's handheld computer systems is almost always called a standard configuration, so the recording location is also physically based. If there is no GPS in the system, the wireless base station accessed by the system can be used as a reference for the geographic location, so the location-related data such as the serial number, MAC address, or IP address of the wireless access base station can be used as an environmental parameter. If the computer system can establish connections with multiple wireless base stations at the same time, it can even determine more specific locations by triangulation.

4. Vibration frequency, we found that when the dynamic sensing system of the computer system is in the high frequency vibration interference of some industrial environments, it will produce obvious offset, and the direction and speed of the offset are related to the vibration frequency, so The vibration frequency can also be used as an environmental parameter. This environmental parameter has little advantage in mobile phone and tablet applications, but is useful in embedded industrial control systems.

After the above steps confirm the measurement reference and generate the correction value, when the system is in the dynamic control state again, the dynamic correction module of the system can modify the dynamic data in various ways, including but not limited to the following the way,

1. Direct correction, that is, correcting each set of data from the dynamic sensing system according to the required correction value, which is the most primitive way.

2. Interval correction, after a certain time, or after accumulating a certain error value, a large correction is made to the dynamic data. And each item in a set of data is not necessarily modified synchronously. For example, in a set of data, it may include 6 items of data, that is, three axial amounts of rotation, and three axial linear accelerations, and the system may only The key item data is frequently corrected and the other data items are not corrected or the interval is large.

3. In Embodiment 2, a way of eliminating the superimposed dither is described. In this way, the dynamic correction is also required. Although this is two different correction work, the function of the correction module of the present mode can be implemented. The correction modules in Example 2 are merged to complete the correction work together.

4. Correct the converted data. For most systems, the raw data of the dynamic sensing system is not directly used, but it is converted into other forms of data, for example, "one for handheld In the example of the control system and method of a computer device, the dynamic data is converted into an example of the movement of the pointer on the screen, and the computer system can be corrected during the conversion process.

When the computer system is in motion and the dynamic sensing system is used to monitor the system dynamics, the above correction value can be used to correct the dynamic data transmitted by the dynamic sensing system, and the corrected dynamic data is used as the actual system. dynamic. In this way, the system becomes more accurate based on the operation of the dynamic sensing system.

具体实现步骤Specific implementation steps

1. The computer system monitors the dynamics of the system in real time and intelligently determines whether the system is at a standstill. Judgment methods include but are not limited to the following;

1) The intelligent judgment module judges whether the system is static or not based on the dynamic characteristics of the dynamic data, that is, whether it is slow or uniform, and determines whether the system is static according to whether the dynamic data determines its presence or absence;

2) The intelligent judgment module assists in determining whether the system is static according to other devices such as a camera attached to the system;

2. When the computer system determines that the system is at a standstill state, the system detects the dynamic data value of the dynamic sensing system and stores it as a modified value in the storage system;

3. The computer system will store the environmental parameters of the environment in which the system is located when the above correction value is generated, together with the correction value, for later calling when the system encounters a similar environment again;

4. When the computer system is in motion and the dynamic sensing system is used to monitor the system dynamics, the system uses the above correction values to correct the dynamic data transmitted by the dynamic sensing system;

5. The computer system takes the corrected dynamic data obtained in the above steps as the actual operation dynamics of the operator, and controls the computer according to the operation;

技术优势Technical advantages

The technical solution of the embodiment can not only effectively eliminate the factory error of the dynamic sensing system, but also effectively eliminate the error caused by the environmental change, and can further adjust the correction value according to the change of the environment, and adapt to the environment at any time. The change in error caused by the change makes the less stable and reliable dynamic sensing system more precise, which can support precise control.

实施例2Example 2

In the first embodiment, the computer system selects the error value of the dynamic sensing system as a measurement reference when it is in a stationary state, and calculates the correction value. However, when the computer system is in a superimposed state of multiple motions, the method of Embodiment 1 does not satisfy the requirements of the system. For example, in an application such as "a control system and method for a handheld computer device", converting dynamic data into a movement of a pointer on a screen, when the user is on a moving car or walking In the process of operating the mobile phone, there will be certain difficulties and interferences, because the human operation is based on the movement of the wrist, the system converts the movement of the mobile phone caused by the movement of the wrist into the movement of the pointer, but in the above case, the bump of the car The swinging of the body while walking, and even the slight swing of the arm derived from the bumps of the car can interfere with the operation. This problem can also be solved by selecting a measurement reference. The difference is that the dynamic sensing system and its dynamic data in other devices are used as the measurement reference, and the dynamic correction module is used to dynamically build the mobile phone in real time. The data of the sensing system is dynamically corrected. It should be specially pointed out that whether it is a dynamic sensing system built in the mobile phone or a dynamic sensing system as a measurement reference, it needs to be self-corrected in the manner as described in Embodiment 1, so as to ensure whether it is a static or dynamic environment. The data is true and dynamic, and there is no drift.

For example, in a moving car, in order to shield the car from its own bumps and dynamically superimposed on the control system, a micro device can be fixedly mounted on the vehicle body, and this device is used as a measurement reference, and the device has a dynamic sensing system, and It can wirelessly connect with the mobile phone to transmit the dynamic data it monitors to the mobile phone in real time, and use the dynamic data of the reference standard to correct the dynamic data of the control device. As shown in Figure 2, the basic principle of the correction is to use the mobile phone. The dynamics monitored are subtracted from the dynamics of the device used as the measurement reference, and the resulting relative motion of the handset relative to the body is obtained. Of course, this is the simplest description of the algorithm, which is much more complicated in practice, because unlike the first embodiment, the dynamic sensing system in the first embodiment utilizes the time, state and measured. The self-correction of the dynamic data is self-correcting, and the axial direction itself is consistent; in this embodiment, the basic axes of the two sets of dynamic sensing systems are not coincident, and the dynamic data needs calculation and conversion, such as a car. The X-axis and Z-axis of the dynamic sensing system on the body are horizontal, while the Y-axis is vertical, while the X-axis and Z-axis on the mobile phone are inclined at a 45-degree angle due to the posture in which they are held. It is necessary to have a dynamic correction value conversion sub-module in the dynamic conversion module to perform a comprehensive conversion operation on several axial data, instead of simply performing a simple subtraction operation on the respective dynamic values in the respective axial directions. There are a number of ways to solve this problem. For example, the user of the mobile phone can place the mobile phone in the positive direction of the horizontal or vertical direction of the vehicle after getting on the vehicle, and press the button as a reference for confirming the axial direction. After holding the direction of the mobile phone at random, the system can easily calculate the difference between the axial direction and the axial direction of the vehicle body and perform conversion calculations; of course, some sensors can also be used to measure the direction of gravity acceleration of the earth and the direction of the earth's magnetic field. The axial direction of the absolute direction is then calculated separately from the difference between the two sensing systems and the absolute axis, and the axial difference between the two sensing systems is further calculated.

In the actual environment, the above method can not completely eliminate the superimposed movement, because with the bumps of the car, the human body and the arm will produce derivative shaking, which is not synchronized with the shaking and bumping of the car itself, but It's half a beat slower, so there's room for improvement. It would be a good choice if you wear the device as a measurement reference on your wrist, or arm, built into an electronic watch, or worn on the sleeves of your clothes. Although the watch on the wrist will rotate with the left and right rotation of the wrist and the mobile phone, the rotation range is much smaller, and the rotation of the wrist has a relatively fixed correspondence with the rotation of the hand finger and the mobile phone itself, and the mobile phone When rotating up and down, the measurement standard is almost undisturbed, and most importantly, no matter how it is operated, it is not affected by external factors. In this way, whether it is the bumps, corners, ups and downs of the car itself, or the resulting jitter of the operator's body, even if people turn around in the car or walk on the street, the shaking of the body is difficult to interfere with the operator's computer. System control.

There is still a technical problem to be solved in the above manner, that is, because the data obtained by the two is a continuous data stream, how to match when calculating the dynamic difference between the two dynamic sensing systems? The solution is to add a time stamp to the dynamic data. When the computer obtains the difference, the computer selects the dynamic data with the same or close time stamp for the operation. As for the synchronization problem of the built-in clocks of the two, there are many different solutions available in the prior art, and even one of them can be solved without the built-in clock, and will not be described here.

In this embodiment, the distribution of the dynamic sensing system as a reference, the monitoring dynamic dynamic sensing system of the operator, the dynamic correction module, and the computer system can be very flexible and diverse, for example, in the above-mentioned vehicle. In the application mode using the mobile phone, the computer system and the monitoring system that monitors the operator's dynamics are installed in the same device, and the dynamic sensing system as the reference is placed separately; but in the application of the car remote control television, the computer and the reference are used as the reference. The dynamic sensing system and the television itself are installed in the same set of equipment, while the dynamic sensing system that monitors the operator's motion is placed relatively remotely from the computer system in the remote control. The existence of the dynamic correction module is more flexible, either as a software module in a computer system or as a system in the form of a small embedded system or firmware that is relatively independent of the host computer system. The interface between the system and the computer system.

In the present invention, the dynamic sensing system as a reference may be composed of multiple sensing systems, and the dynamic sensing system for monitoring the dynamics of the manipulation may also be composed of multiple dynamic sensing systems to monitor more complex manipulations. dynamic.

The present invention is mainly applied to portable devices, so the selection and switching of measurement standards are also problems to be considered. In the existing mobile communication technologies, there are many ready-made solutions for the authentication and switching systems, and details are not described herein.

In the actual environment, there is another kind of interference, that is, the operator itself interferes with the interference between several different actions during the operation, such as pressing, sliding buttons or virtual buttons, which will cause the pointer to appear. The required movement, and jitter, has been well developed in my previously filed patent "A Retrospective Anti-Jitter Control System and Method" and "A Control System and Method for Handheld Computer Devices" The solution, in the actual system may need to comprehensively apply the invention and these technologies, but these techniques will not be repeated in this article.

具体实现步骤Specific implementation steps

1) The dynamic sensing system as a measurement reference monitors its dynamics in real time, and transmits the monitored dynamic data to the dynamic correction module in real time;

2) Monitoring the dynamic dynamic sensing system to monitor its dynamics in real time, and send the monitored dynamic data to the dynamic correction module in real time;

3) The dynamic correction module receives the dynamic data returned by the above two, first converts the former data in the dynamic correction value conversion module, and then uses the converted former data in the dynamic correction sub-module to the latter Data is corrected;

4) The computer system takes the modified dynamic control data obtained by the above steps as the actual operation dynamics of the operator, and controls the computer according to the operation;

技术优势Technical advantages

The technical solution of the embodiment can not only effectively eliminate the jitter interference caused by the shaking operation platform of the automobile, but also eliminate the interference caused by the limb vibration derived therefrom, and is simple and precise control in an unstable environment. Computer-based devices have opened up broad prospects. The invention and the patent "a smart camera system and method for obtaining stable imaging" submitted by myself earlier can not only correct the gyro of the camera in time, but also reflect the actual dynamics faithfully, and can also collect the best timing. The picture provides better background support.

Industrial applicability

Sequence table free content

Claims

A system for intelligently selecting a measurement reference correction dynamics, comprising a computer system, a dynamic sensing system, a static determination module, and a dynamic correction module,

The static judging module monitors the dynamic data returned by the dynamic sensing system in real time, and intelligently determines whether the system is in a static state;

When the static determining module determines that the sensing system is in a stationary state, the computer system detects the dynamic data value of the dynamic sensing system and stores it as a modified value in the storage system;

When the computer system uses the dynamic sensing system to monitor the system dynamics, the dynamic correction module corrects the dynamic data transmitted by the dynamic sensing system by using the above correction value;

The computer system takes the corrected dynamic data obtained in the above steps as the actual operation dynamics of the operator, and controls the computer according to the operation;

2. A method for intelligently selecting a measurement reference correction dynamic, characterized in that the following steps are employed,

1) The static judgment module monitors the dynamic data returned by the dynamic sensing system in real time, and intelligently judges whether the system is in a static state;

2) When the static judgment module is in a static state, the system detects the dynamic data value of the dynamic sensing system and stores it as a correction value to the storage system;

3) When the computer system uses the dynamic sensing system to monitor the system dynamics, the dynamic correction module corrects the dynamic data transmitted by the dynamic sensing system by using the above correction value;

4) The computer system takes the corrected dynamic data obtained in the above steps as the actual operation dynamics of the operator, and controls the computer according to the operation;

3. A system for intelligently selecting a measurement reference correction dynamics, comprising a computer system, a dynamic sensing system as a measurement reference, a dynamic sensing system for monitoring control dynamics, and a dynamic correction module.

The dynamic sensing system as a measurement reference monitors its dynamics in real time, and transmits the monitored dynamic data to the dynamic correction module in real time;

The dynamic sensing system for monitoring and controlling dynamics monitors its dynamics in real time, and transmits the monitored dynamic data to the dynamic correction module in real time;

The dynamic correction module receives the dynamic data returned by the two in real time, and corrects the dynamic data of the monitoring and control by using the dynamic data of the measurement reference;

The computer system takes the corrected dynamic data obtained in the above steps as the actual operation dynamics of the operator, and controls the computer according to the operation;

4. A method for intelligently selecting a measurement reference correction dynamic, characterized in that the following steps are employed,

1) The dynamic sensing system as a measurement reference monitors its dynamics in real time, and transmits the monitored dynamic data to the dynamic correction module in real time;

2) Monitoring the dynamic dynamic sensing system to monitor its dynamics in real time, and send the monitored dynamic data to the dynamic correction module in real time;

3) The dynamic correction module receives the dynamic data returned by the above two, and corrects the latter data by using the former data;

4) The computer system takes the corrected dynamic data obtained in the above steps as the actual operation dynamics of the operator, and controls the computer according to the operation;

5. A system for intelligently selecting a measurement reference correction dynamics, comprising a computer system, a dynamic sensing system, an identification as a measurement reference, and an indicator for monitoring control dynamics,

The dynamic sensing system monitors the identifier as a measurement reference in real time, and sends the monitored dynamic data to the dynamic correction module;

The dynamic sensing system monitors the indicator as a monitoring control dynamic in real time, and sends the monitoring dynamic data to the dynamic correction module;

The dynamic correction module receives the dynamic data returned by the two, and corrects the latter data by using the former data;

The computer system uses the corrected dynamic data obtained in the above steps as the actual operation dynamics of the operator, and controls the computer according to the operation;

6. A method for intelligently selecting a measurement reference correction dynamic, characterized in that the following steps are employed,

1) The dynamic sensing system monitors the identification as a measurement reference in real time and sends its dynamic data to the computer in real time;

2) The dynamic sensing system monitors the dynamics of the monitoring as real-time monitoring, and sends its dynamic data to the computer in real time;

3) The dynamic correction module receives the dynamic data returned by the above two, and corrects the latter data by using the former data;

4) The computer system takes the corrected dynamic data obtained in the above steps as the operation dynamics of the operator, and thereby controls the computer;

7. The method of intelligently selecting a measurement reference correction dynamic according to claim 2, wherein said computer system stores the environmental parameter of the environment in which the system is located when the correction value is generated, together with the correction value, for later encountering the system again. Called when the environment is called;

8. The method of intelligently selecting a measurement reference correction dynamic according to claim 2, wherein said intelligent determination system is in a stationary state, and refers to a static determination module according to a dynamic change characteristic monitored by the dynamic sensing system. Determine if the system is at a standstill;

9. The method of intelligently selecting a measurement reference correction dynamic according to claim 2, wherein said intelligent determination system is in a stationary state, and said that the static determination module determines whether the system is based on data of another type of dynamic sensing system. At rest;

10 . The method of intelligently selecting a measurement reference correction dynamic according to claim 6 , wherein the identifier is a point or a block of the monitored object itself having image features, and is used as a recognition action and a dynamic identifier. 10 . ;